Fuzzy compensator design against windup of a magnetic actuator during milling operation

Author(s):  
Rong-Mao Lee ◽  
Nan-Chyuan Tsai
Author(s):  
M.L. Shreeshail ◽  
Amol C. Desai ◽  
I.G. Siddhalingeshwar ◽  
Krishnaraja G. Kodancha

Author(s):  
Chuan Qu ◽  
Yong-Chen Pei ◽  
Qing-Yuan Xin ◽  
Zhen-Xing Li ◽  
Long Xu

Magnetic-based driving applications are receiving increasing attention. This study proposed a novel reciprocating permanent magnetic actuator (PMA) to manipulate magnetic micro robots to impact and clear blockages inside fluid pipes in a linear path. The PMA consisted of a cylindrical permanent magnet and a crank slider structure. A straight pipe with a circular cross-sectional area was located in front of the actuator to study the driving performance of PMA. A micro permanent magnet with a cylinder shape was employed as a working robot for manipulation inside the pipe. Firstly, analytical formulas were derived to obtain the magnetic driving force acting on the micro robot and determine the most suitable magnet configuration. The finite element simulation verified the analytical calculation. The developed reciprocating PMA prototype was then introduced, and the PMA and micro robot’s motion performance was analysed. Lastly, preliminary experiments were carried out for evaluating the micro robot’s motion characteristics. Performance tests for different excitation frequencies, flow rates, viscosities, and axial distances, indicating that PMA could manipulate the magnetic micro robot inside the pipe. The results confirmed that the developed PMA could effectively drive the micro robot with the advantage of consecutive magnetic driving. Especially, the micro robot featured good flexibility, rapid response, and a simple structure, suggesting that this micro robot may play an important role in industrial and medical applications, such as blockage elimination and thrombus clearance.


2013 ◽  
Vol 325-326 ◽  
pp. 1262-1266
Author(s):  
Valentin Pană

The paper presents a compensator design technique for systems with saturating actuators in order to recover as much as possible the performance of the unsaturated case. This anti-windup scheme is obtained using H-infinity optimization methodology. The proposed design approach allows to obtain a anti-windup controller that accounts for time-delays in the control system. Comparative result are presented for the two design methods and time simulation of the nonlinear system are used to analyze the performances of both designs. A reduced order anti-windup controller procedure is also investigated. Keywords: PIO, anti-windup, rate saturation, compensator.


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